xArm-Python-SDK

Overview

xArm Python SDK

Caution

• During use, people should stay away from the robot arm to avoid accidental injury or damage to other items by the robot arm.
• Protect the arm before use.
• Before you exercise, please make sure you don't encounter obstacles.
• Protect the arm before unlocking the motor.

Installation

Install is not necessary, you can run examples without installation.Only Python3 is supported.

• download

  git clone https://github.com/xArm-Developer/xArm-Python-SDK.git

• install

  python setup.py install

Doc

• API Document

• API Code Document

Update Summary

• 1.11.6

  • Correct the ambiguity that the set_position_aa interface is true when both relative and is_tool_coord are true. After the correction, when is_tool_coord is true, relative is invalid (previously is_tool_coord was invalid when relative was true)

• 1.11.5

  • Optimization pause time is too long (wait=true)
  • Add common motion api (Enabled after firmware version 1.11.100)
  • The Cartesian motion-related interface adds the motion_type parameter to determine the planning method (Enabled after firmware version 1.11.100)

• 1.11.0

  • Support transparent transmission
    • 240: set_tgpio_modbus_timeout(..., is_transparent_transmission=True)
    • 241: getset_tgpio_modbus_data(..., is_transparent_transmission=True)
  • Modified the centroid unit of the ft_sensor_iden_load and ft_sensor_cali_load interfaces to millimeters (originally meters)

• 1.10.0

  • Use monotonic time
  • Fix several bugs

• 1.9.10

  • Support Lite6 Model
  • Fix several bugs

• 1.9.0

  • Support friction parameter identification interface
  • Support relative motion
  • Support xarm6-type11 firmware
  • Repair time-consuming interface (identification) failure due to heartbeat mechanism
  • Fix several bugs

• 1.8.4

  • Support the Six-axis Force Torque Sensor (not a third party)
  • Add threads to handle callbacks
  • Modify the reporting processing logic and optimize the processing of sticky packets
  • Fixed frequent switching of the pause state causing the program to hang
  • Fix the program hangs when setting the mechanical claw position in speed mode
  • Fix relative movement in unsynchronized position

• 1.8.0

  • Support for blocky code conversion and operation of xArmStudio-1.8.0
  • The Velocity interface supports the duration parameter (requires firmware 1.8.0 or higher)
  • Added identification interface (current identification and torque identification) (requires firmware 1.8.0 or higher)
  • Support linear track interface (requires firmware 1.8.0 or higher)
  • Support calling some studio APIs

• More

Example

Note: Before running the example, please modify the ip value in the robot.conf file to the robot arm you want to control.

• 0000-template

• 0001-event_register

• 0002-get_property

• 0003-api_get

• 0004-servo_attach_detach

• 1001-move_line

• 1002-move_line

• 1003-relative_move_line

• 1004-move_arc_line

• 1005-move_arc_line

• 1006-move_tool_line

• 1007-counter

• 1008-move_line_aa

• 1009-cartesian_velocity_control

• 1010-cartesian_online_trajectory_planning

• 2000-joint_velocity_control

• 2006-joint_online_trajectory_planning

• 2001-move_joint --> xarm5 --- xarm6 --- xarm7

• 2002-move_joint --> xarm5 --- xarm6 --- xarm7

• 2003-move_joint --> xarm5 --- xarm6 --- xarm7

• 2004-move_joint --> xarm5 --- xarm6 --- xarm7

• 2005-move_arc_joint --> xarm5 --- xarm6 --- xarm7

• 3001-move_circle

• 3002-record_trajectory

• 3003-playback_trajectory

• 5000-set_tgpio_modbus

• 5001-get_tgpio_digital

• 5002-get_tgpio_analog

• 5003-set_tgpio_digital

• 5004-set_gripper

• 5005-get_cgpio_digital_analog

• 5006-set_cgpio_digital_analog

• 5007-set_cgpio_input_output_function

• 5008-get_cgpio_state

• 5009-set_bio_gripper

• 6001-set_reduced_mode

• 6002-set_fense_mode

• 7001-servo_j

• 7002-servo_cartesian

• 7003-servo_cartesian_aa

• 8000-load_identify_current

• 8001-force_tech

• 8002-impedance

• 8003-force_control

• 8004-load_identify

• 8005-read_force_data

• 8006-save_force_zero

• 8010-get_ft_sensor_config

• 9000-set_linear_track

• blockly_to_python

• get_report_data_with_protocol

• Import

  from xarm.wrapper import XArmAPI
  arm = XArmAPI('COM5')
  arm = XArmAPI('192.168.1.113')
  arm = XArmAPI('192.168.1.113', do_not_open=False)
  arm = XArmAPI('192.168.1.113', is_radian=False)

• Connect/Disconnect

  arm.connect(...)
  arm.disconnect()

• Move

  arm.reset(...)
  arm.set_position(...)
  arm.set_servo_angle(...)
  arm.set_servo_angle_j(...)
  arm.set_servo_cartesian(...)
  arm.move_gohome(...)
  arm.move_circle(...)
  arm.emergency_stop()
  arm.set_position_aa(...)
  arm.set_servo_cartesian_aa(...)
  arm.vc_set_joint_velocity(...)
  arm.vc_set_cartesian_velocity(...)

• Set

  arm.set_servo_attach(...)
  arm.set_servo_detach(...)
  arm.set_state(...)
  arm.set_mode(...)
  arm.motion_enable(...)
  arm.set_pause_time(...)

• Get

  arm.get_version()
  arm.get_state()
  arm.get_is_moving()
  arm.get_cmdnum()
  arm.get_err_warn_code()
  arm.get_position(...)
  arm.get_servo_angle(...)
  arm.get_position_aa(...)
  arm.get_pose_offset(...)

• Setting

  arm.set_tcp_offset(...)
  arm.set_tcp_jerk(...)
  arm.set_tcp_maxacc(...)
  arm.set_joint_jerk(...)
  arm.set_joint_maxacc(...)
  arm.set_tcp_load(...)
  arm.set_collision_sensitivity(...)
  arm.set_teach_sensitivity(...)
  arm.set_gravity_direction(...)
  arm.config_tgpio_reset_when_stop(...)
  arm.config_cgpio_reset_when_stop(...)
  arm.set_report_tau_or_i(...)
  arm.set_self_collision_detection(...)
  arm.set_collision_tool_model(...)
  arm.clean_conf()
  arm.save_conf()

• Gripper

  arm.set_gripper_enable(...)
  arm.set_gripper_mode(...)
  arm.set_gripper_speed(...)
  arm.set_gripper_position(...)
  arm.get_gripper_position()
  arm.get_gripper_err_code()
  arm.clean_gripper_error()

• BIO Gripper

  arm.set_bio_gripper_enable(...)
  arm.set_bio_gripper_speed(...)
  arm.open_bio_grippe(...)
  arm.close_bio_gripper(...)
  arm.get_bio_gripper_status()
  arm.get_bio_gripper_error()
  arm.clean_bio_gripper_error()

• RobotIQ Gripper

  arm.robotiq_reset()
  arm.robotiq_set_activate(...)
  arm.robotiq_set_position(...)
  arm.robotiq_open(...)
  arm.robotiq_close(...)
  arm.robotiq_get_status(...)

• Modbus of the end tools

  arm.set_tgpio_modbus_timeout(...)
  arm.set_tgpio_modbus_baudrate(...)
  arm.get_tgpio_modbus_baudrate(...)
  arm.getset_tgpio_modbus_data(...)

• GPIO

  # Tool GPIO
  arm.get_tgpio_digital(...)
  arm.set_tgpio_digital(...)
  arm.get_tgpio_analog(...)
  arm.set_tgpio_digital_with_xyz(...)
  # Controller GPIO
  arm.get_cgpio_digital(...)
  arm.get_cgpio_analog(...)
  arm.set_cgpio_digital(...)
  arm.set_cgpio_analog(...)
  arm.set_cgpio_digital_input_function(...)
  arm.set_cgpio_digital_output_function(...)
  arm.get_cgpio_state()
  arm.set_cgpio_digital_with_xyz(...)
  arm.set_cgpio_analog_with_xyz(...)

• Linear Track

  arm.get_linear_track_pos()
  arm.get_linear_track_status()
  arm.get_linear_track_error()
  arm.get_linear_track_is_enabled()
  arm.get_linear_track_on_zero()
  arm.get_linear_track_sci()
  arm.get_linear_track_sco()
  
  arm.clean_linear_track_error(...)
  arm.set_linear_track_enable(...)
  arm.set_linear_track_speed(...)
  arm.set_linear_track_back_origin(...)
  arm.set_linear_track_pos(...)
  arm.set_linear_track_stop(...)

• FT Sensor

  arm.set_impedance(...)
  arm.set_impedance_mbk(...)
  arm.set_impedance_config(...)
  arm.config_force_control(...)
  arm.set_force_control_pid(...)
  arm.ft_sensor_set_zero(...)
  arm.ft_sensor_iden_load(...)
  arm.ft_sensor_cali_load(...)
  arm.ft_sensor_enable(...)
  arm.ft_sensor_app_set(...)
  arm.ft_sensor_app_get(...)
  arm.get_ft_sensor_data(...)
  arm.get_ft_senfor_config(...)
  arm.get_ft_sensor_error(...)

• Other

  arm.set_pause_time(...)
  arm.shutdown_system(...)
  arm.clean_error()
  arm.clean_warn()
  arm.set_counter_reset()
  arm.set_counter_increase(...)

• Register/Release

  arm.register_report_callback(...)
  arm.register_report_location_callback(...)
  arm.register_connect_changed_callback(callback)
  arm.register_state_changed_callback(callback)
  arm.register_mode_changed_callback(callback)
  arm.register_mtable_mtbrake_changed_callback(callback)
  arm.register_error_warn_changed_callback(callback)
  arm.register_cmdnum_changed_callback(callback)
  arm.register_temperature_changed_callback(callback)
  arm.register_count_changed_callback(callback)
  arm.release_report_callback(callback)
  arm.release_report_location_callback(callback)
  arm.release_connect_changed_callback(callback)
  arm.release_state_changed_callback(callback)
  arm.release_mode_changed_callback(callback)
  arm.release_mtable_mtbrake_changed_callback(callback)
  arm.release_error_warn_changed_callback(callback)
  arm.release_cmdnum_changed_callback(callback)
  arm.release_temperature_changed_callback(callback)
  arm.release_count_changed_callback(callback)

• Property

  arm.connected
  arm.default_is_radian
  arm.version
  arm.position
  arm.last_used_position
  arm.tcp_speed_limit
  arm.tcp_acc_limit
  arm.last_used_tcp_speed
  arm.last_used_tcp_acc
  arm.angles
  arm.joint_speed_limit
  arm.joint_acc_limit
  arm.last_used_angles
  arm.last_used_joint_speed
  arm.last_used_joint_acc
  arm.tcp_offset
  arm.state
  arm.mode
  arm.joints_torque
  arm.tcp_load
  arm.collision_sensitivity
  arm.teach_sensitivity
  arm.motor_brake_states
  arm.motor_enable_states
  arm.has_err_warn
  arm.has_error
  arm.has_warn
  arm.error_code
  arm.warn_code
  arm.cmd_num
  arm.device_type
  arm.axis
  arm.gravity_direction
  arm.gpio_reset_config
  arm.count
  arm.temperatures
  arm.voltages
  arm.currents
  arm.cgpio_states